File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Article: Robotic Motion Planning and Manipulation in an Uncalibrated Environment

TitleRobotic Motion Planning and Manipulation in an Uncalibrated Environment
Authors
KeywordsMultisensor fusion
Virtual rotation
Event base
Parallel guidance
Issue Date1998
Citation
IEEE Robotics and Automation Magazine, 1998, v. 5, n. 4, p. 50-56 How to Cite?
AbstractThe authors analyze planning and control problems in "Robotic Manipulation" in an uncalibrated environment consisting of a PUMA 560 robotic manipulator, a rotating turntable equipped with an encoder and a CCD camera based vision sensor fixed permanently on the ceiling. It is assumed that a part with a known shape but unknown orientation is placed on the turntable which is rotating with an unknown motion dynamics. Furthermore, the calibration parameters are a priori assumed to be unknown. The objective is to track the rotating part with an a priori specified relative orientation. The task considered is of importance in various problems concerning industrial automation, such as part-feeding and tool-changing.
Persistent Identifierhttp://hdl.handle.net/10722/212699
ISSN
2015 Impact Factor: 1.822
2015 SCImago Journal Rankings: 1.792

 

DC FieldValueLanguage
dc.contributor.authorGhosh, Bijoy K.-
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorXi, Ning-
dc.contributor.authorYu, Zhenyu-
dc.contributor.authorXiao, Di-
dc.date.accessioned2015-07-28T04:04:44Z-
dc.date.available2015-07-28T04:04:44Z-
dc.date.issued1998-
dc.identifier.citationIEEE Robotics and Automation Magazine, 1998, v. 5, n. 4, p. 50-56-
dc.identifier.issn1070-9932-
dc.identifier.urihttp://hdl.handle.net/10722/212699-
dc.description.abstractThe authors analyze planning and control problems in "Robotic Manipulation" in an uncalibrated environment consisting of a PUMA 560 robotic manipulator, a rotating turntable equipped with an encoder and a CCD camera based vision sensor fixed permanently on the ceiling. It is assumed that a part with a known shape but unknown orientation is placed on the turntable which is rotating with an unknown motion dynamics. Furthermore, the calibration parameters are a priori assumed to be unknown. The objective is to track the rotating part with an a priori specified relative orientation. The task considered is of importance in various problems concerning industrial automation, such as part-feeding and tool-changing.-
dc.languageeng-
dc.relation.ispartofIEEE Robotics and Automation Magazine-
dc.subjectMultisensor fusion-
dc.subjectVirtual rotation-
dc.subjectEvent base-
dc.subjectParallel guidance-
dc.titleRobotic Motion Planning and Manipulation in an Uncalibrated Environment-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/100.740466-
dc.identifier.scopuseid_2-s2.0-0032318757-
dc.identifier.volume5-
dc.identifier.issue4-
dc.identifier.spage50-
dc.identifier.epage56-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats